Design and Evaluation of an Omnidirectional Wheel-Driven Endoscope-Assisted Robotic System Based on Motion Capture...

Area of Science:

• Robotics
• Minimally Invasive Surgery
• Medical Engineering

Background:

• Endoscopic surgery typically requires surgeon-assistant collaboration for endoscope and instrument manipulation.
• Independent endoscopic surgery is currently not feasible due to the complexity of controlling multiple instruments and the endoscope simultaneously.

Purpose of the Study:

• To develop an innovative endoscopic assistive robot system.
• To enable surgeons to perform endoscopic procedures independently with enhanced control and precision.

Main Methods:

• A motion capture control system was implemented for the endoscopic assistive robot.
• Real-time motion information from a marker accessory was captured using master-end cameras to determine surgeon intent.
• Slave-end robot control simulated surgical actions, achieving precise endoscopic positioning via master-slave mapping.
• An omnidirectional wheel design was utilized to overcome traditional friction wheel coupling issues, enhancing control accuracy.

Main Results:

• The system demonstrated a maximum delivery error of 3.99%.
• A significant 45.77% improvement in rotational precision was achieved.
• The system received positive feedback during both simulated and animal trials.

Conclusions:

• The developed endoscopic assistive robot empowers surgeons to perform procedures independently.
• This technology lays the groundwork for advancements in the diagnosis and treatment of gastric diseases.